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Split queue_size param into sync_queue_size and topic_queue_size parameters for more fine tuning of topic synchronization (#1054)

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matlabbe
2024-06-11 22:35:54 -07:00
parent 9ced85d5f8
commit ae44e1a215
33 changed files with 882 additions and 779 deletions
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rtabmap_sync/src/impl/CommonDataSubscriberSensorData.cpp
+9 -11
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@@ -68,25 +68,23 @@ void CommonDataSubscriber::setupSensorDataCallbacks(
ros::NodeHandle & nh,
ros::NodeHandle & pnh,
bool subscribeOdom,
bool subscribeOdomInfo,
int queueSize,
bool approxSync)
bool subscribeOdomInfo)
{
ROS_INFO("Setup SensorData callback");
sensorDataSub_.subscribe(nh, "sensor_data", queueSize);
sensorDataSub_.subscribe(nh, "sensor_data", topicQueueSize_);
if(subscribeOdom)
{
odomSub_.subscribe(nh, "odom", queueSize);
odomSub_.subscribe(nh, "odom", topicQueueSize_);
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync, queueSize, odomSub_, sensorDataSub_, odomInfoSub_);
odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
SYNC_DECL3(CommonDataSubscriber, sensorDataOdomInfo, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_, odomInfoSub_);
}
else
{
SYNC_DECL2(CommonDataSubscriber, sensorDataOdom, approxSync, queueSize, odomSub_, sensorDataSub_);
SYNC_DECL2(CommonDataSubscriber, sensorDataOdom, approxSync_, syncQueueSize_, odomSub_, sensorDataSub_);
}
}
else
@@ -94,13 +92,13 @@ void CommonDataSubscriber::setupSensorDataCallbacks(
if(subscribeOdomInfo)
{
subscribedToOdomInfo_ = true;
odomInfoSub_.subscribe(nh, "odom_info", queueSize);
SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync, queueSize, sensorDataSub_, odomInfoSub_);
odomInfoSub_.subscribe(nh, "odom_info", topicQueueSize_);
SYNC_DECL2(CommonDataSubscriber, sensorDataInfo, approxSync_, syncQueueSize_, sensorDataSub_, odomInfoSub_);
}
else
{
sensorDataSub_.unsubscribe();
sensorDataSubOnly_ = nh.subscribe("sensor_data", queueSize, &CommonDataSubscriber::sensorDataCallback, this);
sensorDataSubOnly_ = nh.subscribe("sensor_data", syncQueueSize_, &CommonDataSubscriber::sensorDataCallback, this);
subscribedTopicsMsg_ =
uFormat("\n%s subscribed to:\n %s",